Classes |
| struct | environment_params |
| class | EuclideanHeuristic |
| | Determining the heuristic value by the euclidean distance between two states. More...
|
| class | EuclStepCostHeuristic |
| | Determining the heuristic value by the euclidean distance between two states, the expected step costs to get from one state to the other and the difference between the orientation of the two states multiplied by some cost factor. (NOTE: choosing this angular difference cost might overestimate the heuristic value.) More...
|
| class | Footstep |
| | A class representing a footstep (i.e. a translation and rotation of a specific foot with respect to the supporting leg) that can be performed by a humanoid robot. More...
|
| class | FootstepNavigation |
| | A class to control the performance of a planned footstep path on the NAO robot. More...
|
| class | FootstepPlanner |
| | A class to control the interaction between ROS and the footstep planner. More...
|
| class | FootstepPlannerEnvironment |
| | A class defining a footstep planner environment for humanoid robots used by the SBPL to perform planning tasks. More...
|
| class | FootstepPlannerNode |
| | Wrapper class for FootstepPlanner, providing callbacks for the node functionality. More...
|
| class | Heuristic |
| | An abstract super class providing methods necessary to be used as heuristic function within the FootstepPlanner. More...
|
| class | PathCostHeuristic |
| | Determining the heuristic value by calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance. More...
|
| class | PlanningState |
| | A class representing the robot's pose (i.e. position and orientation) in the underlying SBPL. More precisely a planning state is a discrete representation of the robot's supporting leg. More...
|
| class | PlanningStateChangeQuery |
| class | State |
| | A class representing the robot's pose (i.e. position and orientation) in the (continuous) world view. More precisely a state points to the robot's supporting leg. More...
|
Typedefs |
typedef std::vector< State >
::const_iterator | state_iter_t |
Enumerations |
| enum | Leg { RIGHT = 0,
LEFT = 1,
NOLEG = 2
} |
Functions |
| double | angle_cell_2_state (int angle, int angle_bin_num) |
| | Calculate the respective (continuous) angle for a bin.
|
| int | angle_state_2_cell (double angle, int angle_bin_num) |
| | Discretize a (continuous) angle into a bin.
|
| unsigned int | calc_hash_tag (int x, int y, int theta, int leg, int max_hash_size) |
| double | cell_2_state (int value, double cell_size) |
| | Calculate the respective (continuous) state value for a cell. (Should be used to get a State from a discretized PlanningState.)
|
| bool | collision_check (double x, double y, double theta, double height, double width, int accuracy, const gridmap_2d::GridMap2D &distance_map) |
| | Checks if a footstep (represented by its center and orientation) collides with an obstacle. The check is done by recursively testing if either the circumcircle of the foot, the inner circle of the foot or the area in between has an appropriate distance to the nearest obstacle.
|
| double | cont_val (int length, double cell_size) |
| | Calculates the continuous value for a length discretized in cell size.
|
| int | disc_val (double length, double cell_size) |
| | Discretize a (continuous) value into cell size.
|
| double | euclidean_distance (int x1, int y1, int x2, int y2) |
| double | euclidean_distance (double x1, double y1, double x2, double y2) |
| double | euclidean_distance_sq (int x1, int y1, int x2, int y2) |
| double | euclidean_distance_sq (double x1, double y1, double x2, double y2) |
| double | grid_cost (int x1, int y1, int x2, int y2, float cell_size) |
| unsigned int | int_hash (int key) |
| bool | pointWithinPolygon (int x, int y, const std::vector< std::pair< int, int > > &edges) |
| | Crossing number method to determine whether a point lies within a polygon or not.
|
| int | round (double r) |
| | Rounding half towards zero.
|
| int | state_2_cell (float value, float cell_size) |
| | Discretize a (continuous) state value into a cell. (Should be used to discretize a State to a PlanningState.)
|
Variables |
| static const double | FLOAT_CMP_THR = 0.0001 |
| static const double | TWO_PI = 2 * M_PI |